To get access to the power steering belt the alternator belt has to be removed. The tools needed to replace the belts are 12mm and 14mm 3/8 drive socket ratchet, universal joint and extension. Toyota use a long threaded bolt going through the adjusting bracket, loosen the top pivot bolt on the alternator and power steering pump. The power steering has a 14mm headed bolt you need to get access to from underneath the car. Its pretty straight forward should take you less than a hour.
Remove the black plastic splash shield in the wheel well to make things easier.